A method is described for determining the position of a vehicle equipped with a radar system that includes at least one radar sensor adapted to receive radar signals emitted from at least one radar emitter of the radar system and reflected the radar sensor. The method comprises: acquiring at least one radar scan comprising a plurality of radar detection points, wherein each radar detection point is evaluated from a radar signal received at the radar sensor and representing a location in the vicinity of the vehicle; determining, from a database, a predefined map, wherein the map comprises at least one element representing a static landmark in the vicinity of the vehicle; matching at least a subset of the plurality of radar detection points of the at least one scan and the at least one element of the map; deter-mining the position of the vehicle based on the matching.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The method of claim 1, wherein the method does not comprise using data from a space-based radio-navigation system of the vehicle.
5. The method of claim 1, wherein determining the rigid transformation function comprises a probabilistic model, wherein at least one parameter of the probabilistic model represents an expected variance of a respective one of the plurality of radar detection points, wherein the expected variance is non-constant.
8. The method of claim 7, wherein the motion model is determined based on at least one measurement from at least one motion sensor of the vehicle and/or on the basis of at least some of the plurality of radar detection points.
9. The method of claim 8, wherein the measurement from the at least one motion sensor comprises a velocity or a yaw rate of the vehicle.
10. The method of claim 1, wherein the position of the vehicle comprises coordinates representing a location and an orientation of the vehicle.
11. The method of claim 1, wherein the subset of the plurality of radar detection points includes radar detection points from a plurality of successive radar scans of the radar system, in particular 1 to 20 scans, preferably 10 scans, wherein a scan rate of the radar system is between 10 to 40 Hz, preferably 20 Hz.
13. The vehicle of claim 12, wherein the control and processing unit does not use data from a space-based radio-navigation system of the vehicle to determine the position of the vehicle.
15. The vehicle of claim 12, wherein determining the rigid transformation function comprises a probabilistic model, wherein at least one parameter of the probabilistic model represents an expected variance of a respective one of the plurality of radar detection points, wherein the expected variance is non-constant.
16. The vehicle of claim 15, wherein, for a respective radar detection point, the expected variance of the respective radar detection point comprises a first component and a second component, the first component representing the expected variance with respect to a distance between the location in the vicinity of the vehicle represented by the radar detection point and the at least one radar sensor, the second component representing the expected variance with respect to an angle identifying a direction of the location in the vicinity of the vehicle represented by the radar detection point relative to the at least one radar sensor, and the first component being smaller than the second component.
20. The non-transitory computer-readable storage medium of claim 18, wherein determining the rigid transformation function comprises a probabilistic model, at least one parameter of the probabilistic model representing an expected variance of a respective one of the plurality of radar detection points and the expected variance being non-constant.
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January 7, 2019
November 15, 2022
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